Cantilevered x-ray ct system for multi-axis imaging

ABSTRACT

A multi-axis imaging system comprising an imaging gantry with an imaging axis extending through a bore of the imaging gantry, a support column that supports the imaging gantry on one side of the gantry in a cantilevered manner, and a base that supports the imaging gantry and the support column. The imaging system including a first drive mechanism that translates the gantry in a vertical direction relative to the support column and the base, a second drive mechanism that rotates the gantry with respect to the support column between a first orientation where the imaging axis of the imaging gantry extends in a vertical direction parallel to the support column and a second orientation where the imaging axis of the gantry extends in a horizontal direction parallel with the base, and a third drive mechanism that translates the support column and the gantry in a horizontal direction along the base.

CROSS-REFERENCE TO RELATED APPLICATIONS

The subject application is a Continuation of U.S. patent applicationSer. No. 17/201,440 filed on Mar. 15, 2021, which is a Continuation ofU.S. patent application Ser. No. 16/818,060 filed on Mar. 13, 2020 andissued as U.S. Pat. No. 10,973,478 on Apr. 13, 2021, which is aContinuation of U.S. patent application Ser. No. 15/817,672 filed onNov. 20, 2017 and issued as U.S. Pat. No. 10,624,596 on Apr. 21, 2020,which claims the benefit of priority to U.S. Provisional Application No.62/425,746, filed on Nov. 23, 2016, the entire contents of each of whichare incorporated herein by reference.

BACKGROUND

Conventional medical imaging devices, such as x-ray computed tomography(CT) imaging devices, are limited in the types of imaging operationsthat may be performed.

SUMMARY

Embodiments include a multi-axis imaging system and methods for imaginga human or animal using a multi-axis imaging system. The variousembodiments include a multi-axis imaging system that includes an imaginggantry, a support column that supports the imaging gantry on one side ofthe gantry in a cantilevered manner, a base that supports the imaginggantry and the support column, a first drive mechanism that translatesthe gantry in a vertical direction relative to the support column, asecond drive mechanism that rotates the gantry with respect to thesupport column, and a third drive mechanism that translates the supportcolumn and the gantry in a horizontal direction relative to the base.

Further embodiments include a method of operating a multi-axis imagingsystem comprising a moveable imaging gantry, the method includingreceiving, from a control system of a moveable patient support, dataindicating the configuration of the patient support, and sending controlsignals to one or more drive systems of the multi-axis imaging system tocause the gantry to translate and/or rotate to maintain the gantryspaced away from the patient support and a bore of the gantry alignedwith the patient support in response to the data received from thecontrol system of the moveable patient support.

Further embodiments include a control system for a multi-axis imagingsystem having a moveable imaging gantry and a movable patient support,the control system including a memory and a processor configured withprocessor-executable instructions to perform operations includingreceiving data indicating a configuration of the movable patientsupport, and sending control signals to one or more drive systems of themulti-axis imaging system to cause the gantry to translate and/or rotateto maintain the gantry spaced away from the patient support and a boreof the gantry aligned with the patient support in response to the datareceived from the control system of the moveable patient support.

Further embodiments include a multi-axis imaging system for imaging ananimal in a weight-bearing position that includes a gantry, a supportcolumn that supports the gantry, and a support stage on which an animalstands, wherein the gantry is translatable with respect to the supportstage in a vertical direction to scan one or more legs of the animalstanding on the support stage and the gantry is translatable in avertical and in a horizontal direction with respect to the support stageto scan a head and/or neck of the animal standing on the support stage.

BRIEF DESCRIPTION OF THE DRAWINGS

Other features and advantages of the present invention will be apparentfrom the following detailed description of the invention, taken inconjunction with the accompanying drawings of which:

FIG. 1 illustrates a multi-axis CT imaging device according to anembodiment.

FIGS. 2A-2C illustrate a multi-axis x-ray CT imaging device performing ascan of a patient in a vertical direction.

FIGS. 3A-3C illustrate the multi-axis x-ray CT imaging device performinga scan of a patient in a horizontal direction.

FIGS. 4A-4C illustrate the multi-axis x-ray CT imaging device performinga scan of a patient in an oblique direction.

FIGS. 5A-5D illustrate a vertical support column for an x-ray gantryaccording to an embodiment.

FIGS. 6A-6B illustrate a base of an x-ray CT imaging system according toan embodiment.

FIG. 7A-7E illustrate a gantry and a bearing assembly for a multi-axisimaging system according to an embodiment.

FIG. 8 schematically illustrates a bearing assembly attached to a gantryshell according to an embodiment.

FIG. 9 illustrates components mounted to a rotor according to anembodiment.

FIGS. 10A-10K illustrate methods of operating a multi-axis imagingsystem and moveable patient support to perform an imaging scan of apatient.

FIGS. 11A-11C illustrate a multi-axis imaging system for imaging ananimal in a standing position.

FIG. 12 schematically illustrates a computing device which may be usedfor performing various embodiments.

DETAILED DESCRIPTION

The various embodiments will be described in detail with reference tothe accompanying drawings. Wherever possible, the same reference numberswill be used throughout the drawings to refer to the same or like parts.References made to particular examples and implementations are forillustrative purposes, and are not intended to limit the scope of theinvention or the claims.

Referring to FIG. 1 , an imaging system 100 according to one embodimentof the invention is shown. The system 100 includes image collectioncomponents, such as a rotating x-ray source and detector array, arotating gamma-ray camera or stationary magnetic resonance imagingcomponents, that are housed within the gantry 40. The system 100 isconfigured to collect imaging data, such as, for example x-ray computedtomography (CT), positron emission tomography (PET), single-photonemission computed tomography (SPECT) or magnetic resonance imaging (MRI)data, from an object located within the bore 116 of the gantry 40, inany manner known in the medical imaging field. In embodiments, thesystem 100 may be an x-ray CT imaging system, and may include an x-raysource and a detector located within the gantry 40. The gantry 40 mayalso include other components, such as a high-voltage generator, a heatexchanger, a power supply (e.g., battery system), and a computer. Thesecomponents may be mounted on a rotating element (e.g., a rotor) thatrotates within the gantry 40 during an imaging scan. A rotor drivemechanism may also be located on the rotor, and may drive the rotationof the rotor. Between scans, a docking system may be used to couple therotating and non-rotating portions of the system 100 for power and datacommunication.

The gantry 40 may be mounted to a support column 801. The support column801 may be attached to the gantry 40 on a first side of the gantry 40and may support the gantry 40 in a cantilevered manner. The gantry 40may be a generally O-shaped structure having a central imaging bore 116and defining an imaging axis 114 extending through the bore. The system800 may also include a base 802 that may be located on a weight-bearingsurface, such as a floor 819 of a building. In the illustratedembodiment, the base 802 comprises a generally rectilinear supportstructure that may be mounted (e.g., bolted) to the floor 819. Thesupport column 801 may be located on and supported by the base 802 andmay extend upwards from the top surface of the base 802 in a generallyvertical direction. The support column 801 may have a length dimensionthat extends vertically at least about 2 meters, such as 2-5 meters(e.g., about 3 meters).

In various embodiments discussed in further detail below, the system 100may enable imaging (e.g., CT scanning) in multiple orientations andalong multiple directions. In embodiments, the system 100 may include afirst drive mechanism for translating the gantry 40 relative to thesupport column 801 in a first direction along the direction of arrow 101in FIG. 1 . The first direction 101 may be a generally verticaldirection (i.e., perpendicular to the floor 819), which for the purposesof this disclosure may be defined as ±15° from true vertical. The system100 may also include a second drive mechanism for rotating the gantry 40relative to the support column 801 in the direction indicated by arrow102. The rotation of the gantry 40 may be with respect to an axis 103that extends orthogonal to the first direction 101 and may be generallyparallel to the floor 819. The axis 103 may extend through the isocenterof the bore 116 of the gantry 40. The system may also include a thirddrive mechanism for translating the gantry 40 and support column 801with respect to the base 802 in a second direction indicated by arrow104 in FIG. 1 . The second direction 104 may be a generally horizontaldirection (i.e., parallel to the floor 819), which for the purposes ofthis disclosure may be defined as ±15° from true horizontal. The seconddirection 104 may be orthogonal to both the first direction 101 and tothe rotation axis 103.

FIGS. 2A-2C, 3A-3C and 4A-4C illustrate an imaging system 100 in variousconfigurations for performing imaging scans along multiple axes. InFIGS. 2A-2C, the support column 801 may support the gantry 40 in agenerally vertical orientation, such that the front and rear faces ofthe gantry 40 extend parallel to the floor 819 and the imaging axis 114through the gantry bore 116 extends in a vertical direction (i.e.,perpendicular to the floor). The imaging axis 114 of the gantry 40 inthis configuration may extend parallel to the length dimension of thevertically-extending support column 801.

The gantry 40 may be displaced along the length of the support column801 in a generally vertical direction. This is illustrated in FIGS.2A-2C, which show the gantry 40 displaced vertically from a firstposition in FIG. 2A with the gantry 40 located proximate a first end ofthe support column 801 (i.e., opposite the base 802), to a secondposition in FIG. 2B with the gantry 40 located approximately mid-wayalong the length of the support column 801, to a third position in FIG.2C, with the gantry 40 located proximate to a second end of the supportcolumn 801 proximate to the base 802. The gantry 40 and the supportcolumn 801 may include mating features that confine the displacement ofthe gantry 40 along the length of the support column 801. As shown inFIGS. 2A-2C, for example, a pair of parallel rails 805, 806 may extendin a vertical direction along the length of the support column 801. Acarriage 807 may be mounted to the side of the gantry 40 that attachesto the support column 801. The carriage 807 may include bearing elements(e.g., roller and/or dovetail bearing slides) that engage with the rails805, 806 to provide linear motion of the carriage 807 and gantry 40along the length of the support column 801.

A first drive mechanism may drive the displacement of the gantry 40relative to the support column 801. An example of the first drive system501 is described below with reference to FIGS. 5A-5D. A controller 810(see FIG. 4A) may control the operation of the first drive mechanism 501and thereby control the vertical displacement of the gantry 40. Thecontroller may receive position feedback signals indicative of theposition of the gantry 40 along the support column 801, such as from alinear encoder.

The system 100 may also include a patient support 813. The patientsupport 813 may support a patient 105 in a weight-bearing standingposition as shown in FIGS. 2A-2C. The patient support 813 may include afirst portion 815 that supports the feet of a patient upon which thepatient 105 may stand. A second portion 817 may extend generallyperpendicular to the first portion 815 and may provide additionalsupport to the patient 105. For example, the patient 105 may leanagainst the second portion 817 during a scan and the second portion 817may help to stabilize the patient 105 and prevent the patient 105 fromfalling off the patient support 813. In embodiments, the patient support813 may support the patient 105 in a position that is raised above thefloor 819, as shown in FIGS. 2A-2C. The first portion 815 and the secondportion 817 may be made of a radiolucent (x-ray transparent) material,such as carbon fiber material.

The system 100 may be used to perform an imaging scan of a patient 105in a weight-bearing standing position. For example, for an x-ray CTimaging system, the x-ray source and detector may rotate within thegantry 40 around the patient while the gantry 40 is displaced verticallyon the support column 801 as shown in FIGS. 2A-2C to perform a helicalscan of a patient 105 positioned on the patient support 813. Inembodiments, the system 100 may scan over the full length of the patient(e.g., from the top of the patient's cranium to the bottom of thepatient's feet) or any selected portion thereof. Following a scan, thegantry 40 may be moved to an out-of-the way position (e.g., to the topof the support column 801 or below the patient's feet) and the patient105 may be removed from the patient support 813.

The gantry 40 may be attached to the support column 801 such that thegantry 40 may rotate (i.e., tilt) with respect to the support column801. This is illustrated in FIGS. 3A-3C, which illustrate the gantry 40tilted from a generally vertical orientation (as shown in FIGS. 2A-2C)with the front and rear faces of the gantry 40 extending parallel to thefloor 819 and the imaging axis 114 extending in a vertical direction(i.e., perpendicular to the floor) to a generally horizontal orientationwith the front and rear faces of the gantry extending perpendicular tothe floor 819 and the imaging axis 114 extending in a horizontaldirection (i.e., parallel to the floor). The imaging axis 114 of thegantry 40 in the configuration shown in FIGS. 2A-2C may extendperpendicular to the length dimension of the vertically-extendingsupport column 801.

In embodiments, a rotary bearing may enable the rotation of the gantry40 with respect to the support column 801. In one embodiment, the rotarybearing may include a first portion (i.e., bearing race) mounted to thecarriage 807 and a second portion (i.e., bearing race) mounted to thegantry 40. The two bearing portions may rotate concentrically relativeto one another such that the gantry 40 may be rotated relative to thecarriage 807 and support column 801. In embodiments, the gantry 40 mayrotate at least about 90° relative to the support column 801 (e.g., asis illustrated by FIGS. 2A-2C and FIGS. 3A-3C). In some embodiments, thegantry 40 may rotate at least about 180°, such as at least about 270°,including about 300° or more, relative to the support column 801.

A second drive mechanism may drive the rotation of the gantry 40relative to the support column 801. An example of the second drivesystem 503 is described below with reference to FIGS. 5A-5D. The systemcontroller 810 (see FIG. 4A) may control the operation of the seconddrive mechanism 503 and thereby control the rotational angle (tilt) ofthe gantry 40 relative to the support column 801. The controller mayreceive position feedback signals indicative of the rotational positionof the gantry 40 with respect to the support column 801, such as from arotary encoder.

In some embodiments, the patient support 813 may move from a firstconfiguration as shown in FIGS. 2A-2C to a second configuration as shownin FIGS. 3A-3C. In the configuration of FIGS. 2A-2C, the first portion815 of the patient support 813 may extend in a generally horizontaldirection (i.e., parallel to the floor 819) and the second portion 817may extend in a generally vertical direction (i.e., away from the floor819). In the configuration of FIGS. 3A-3C, the second portion 817 of thepatient support 813 may extend in a generally horizontal direction(i.e., parallel to the floor 819) and the first portion 815 may extendin a generally vertical direction. Put another way, the patient support813 may tilt by a predetermined angle (e.g., ˜90° relative to the floor819 between the configuration shown in FIGS. 2A-2C and the configurationshown in FIGS. 3A-3C. In embodiments, the table configuration of FIGS.2A-2C may be used for scanning a patient in a weight-bearing standingposition and the table configuration of FIGS. 3A-3C may be used forscanning a patient in a lying position, as in conventional x-ray CTsystems.

In some embodiments, the patient support 813 may rotate (tilt) withrespect to a linkage member 821 to which the patient support 813 isattached. In embodiments, the linkage member 821 may also rotate withrespect to the floor 819. For example, the linkage member 821 may beattached to a base 823 that may be mounted to the floor 819. The linkagemember 821 may rotate relative to the base 823. The rotation of thelinkage member 821 relative to the base 823 may raise and lower thepatient support 813 relative to the floor 819. A table control systemmay provide coordinated rotational motion of the patient support 813relative to the linkage member 821 and rotational motion of the linkagemember 821 relative to the base 823 to move the table system from theconfiguration shown in FIGS. 2A-2C to the configuration shown in FIGS.3A-3C. An example of a patient table system that may be used with thesystem 100 is described in U.S. patent application Ser. No. 15/685,955filed on Aug. 24, 2017, the entire contents of which were previouslyincorporated by reference herein.

FIGS. 3A-3C illustrate the system 100 performing an imaging scan of apatient 105 in a lying position. In particular, for an x-ray CT imagingsystem, the x-ray source and detector may rotate within the gantry 40around the patient 105 while the gantry 40 is translated relative to thepatient support 813 in a generally horizontal direction to perform ahelical scan of a patient 105 lying on the patient support 813. In theembodiment shown in FIGS. 3A-3C, the gantry 40 and the support column801 may translate relative to the patient 105 and patient support 813,which may be stationary during the scan. The gantry 40 and the supportcolumn 801 may translate along the length of the base 802. As shown inFIGS. 3A-3C, the gantry 40 may be displaced vertically on the supportcolumn 801 such that the patient 105 is aligned with the bore 116 of thegantry 40 and the imaging axis 114 extends along the length of thepatient 105. The gantry 40 and the support column 801 may then translatealong the base 802 in a horizontal direction from a first position asshown in FIG. 3A with the gantry 40 located over the head of the patient105, to a second position as shown in FIG. 3B with the gantry 40 locatedover the mid-section of the patient 105, to a third position as shown inFIG. 3C with the gantry 40 located over the feet of the patient 105. Thesystem 100 may perform a horizontal scan over the full length of thepatient 105 or any selected portion thereof.

The base 802 and the support column 801 may include mating features thatconfine the translation of the support column in a horizontal directionalong the length of the base 802. In the example of FIGS. 3A-3C, thebase 802 may include rails or tracks that may mate with correspondingfeatures at the bottom of the support column 801 to guide thetranslation of the support column 801 in a horizontal direction. A thirddrive mechanism may drive the translation of the support column 801relative to the base 802. An example of a third drive mechanism 601 fortranslating the gantry 40 and support column 801 is schematicallyillustrated in FIGS. 6A-6B. The third drive mechanism 601 may comprise,for example, a belt drive, a drive wheel, a lead screw, a ball screw, apulley, etc. or various combinations therefore. The third drivemechanism 601 may be mechanically coupled to and driven by one or moremotors, which may be located in the support column 801 and/or the base802. The system controller 810 (see FIG. 4A) may control the operationof the third drive mechanism 601 and thereby control the horizontaltranslation of the support column 801 and gantry 40. The controller 810may receive position feedback signals indicative of the position of thesupport column 801 relative to the base 802, such as from a linearencoder.

FIGS. 4A-4C illustrate the system 100 performing an imaging scan of apatient 105 along a tilted axis. The patient 105 may be supported by thepatient support 813 at an oblique angle such that an axis 1014 extendinglengthwise through the patient 105 is neither parallel or perpendicularto the floor 819. This may be achieved, for example, by rotating(tilting) the patient support 813 and patient 105 from a standingposition (as shown in FIGS. 2A-2C) or rotating (tilting) the patientsupport 813 and patient 105 upwards from a lying position (as shown inFIGS. 3A-3C). The controller 810 may control the second drive mechanism502 to rotate (tilt) the gantry 40 with respect to the support column801 such that the imaging axis 114 through the bore 116 is parallel to,and optionally collinear with, the patient axis 1014. The system 100 mayperform an imaging scan (e.g., a helical x-ray CT scan) of the patient105 by moving the gantry 40 in the direction of the tilted patient axis1014 while maintaining a fixed angle between the gantry 40 and axis1014. In various embodiments, the controller 810 of the imaging system100 may provide a coordinated movement of the gantry 40 relative to thesupport column 801 in a vertical direction with a movement of the gantry40 and support column 801 relative to the base 802 in a horizontaldirection. The controller 810 may include logic configured to determinethe relative vertical and horizontal displacement of the gantry 40needed to move the gantry 40 along the tilted axis 1014. The controller810 may send control signals to the first drive mechanism 501 and to thethird drive mechanism 601 to provide coordinated vertical and horizontaldisplacement of the gantry 40. Where the angle of the tilted axis 1014is known or may be determined, the controller 810 may use simpletrigonometric relations to determine the vertical and horizontaldisplacement of the gantry 40. As in the embodiment of FIGS. 4A-4C, forexample, where the tilted axis 1014 is at an angle of 60° relative tohorizontal, each cm of the scan along the axis 1014 may include avertical displacement of the gantry 40 relative to the support column801 of ˜0.0.87 cm (i.e., sin 60°) and a horizontal displacement of thegantry 40 and support column 801 relative to the base 802 of 0.5 cm(i.e., cos 50°). Thus, the imaging system 100 may perform a scan at anytilt axis 1014, and in embodiments may perform scans along complex axes,such as along a multi-angled or curved axis.

FIGS. 4A-4C illustrate the system 100 performing an imaging scan of apatient 105 along a tilted axis 1014. In particular, for an x-ray CTimaging system, the x-ray source and detector may rotate within thegantry 40 around the patient 105 while the gantry 40 is displaced inboth vertical and horizontal directions to perform a helical scan of thepatient 105 along a tilted axis 1014. The patient may be supported on apatient support 813 that may be tilted such that the second portion 817of the patient support 813 may extend parallel to the tilted axis 1014.The gantry 40 may be tilted on the support column 801 to align thegantry imaging axis 814 with the tilted axis 1014. The gantry 40 may bemoved in both a vertical and horizontal direction from a first positionas shown in FIG. 4A with the gantry 40 located over the head of thepatient 105, to a second position as shown in FIG. 4B with the gantry 40located over the mid-section of the patient 105, to a third position asshown in FIG. 4C with the gantry 40 located over the feet of the patient105. The system 100 may perform scan over the full length of the patient105 or any selected portion thereof.

FIGS. 5A-5D illustrate an example of a support column 801 for amulti-axis imaging system. FIG. 5A is a front perspective view of asupport column 801. FIG. 5B is a rear, partially-transparent perspectiveview of the support column 801 showing an interior portion thereof. FIG.5C is a cross-section view taken lengthwise through the support column801. FIG. 5D illustrates the first and second drive mechanisms 501, 503with the surrounding support structure of the support column 801removed.

The support column 801 may be formed of a high-strength structuralmaterial, such as aluminum. The support column 801 may include a hollowinterior that may form one or more interior housings or compartments. Inthe embodiment of FIGS. 5A-5C, the support column 801 may include afirst interior housing 505 that extends lengthwise in a front portion ofthe support column 801, and at least one second interior housing 507 ina rear portion of the support column. As shown in FIG. 2A, for example,a front cover 809 may cover the first interior housing 505, and anelongated opening or slot 811 may provide access to the first interiorhousing 505. The parallel rails 805, 806 which are engaged by thebearing elements 502, 504 of the carriage 807 may be attached to thefront face of the support column 801. In some embodiments, the beds onwhich the rails 805, 806 are mounted may be counter-machined to offsetany deflection of the support column 801 that may result from the loadof the cantilevered gantry 40 as it travels up and down the column 801.

The first drive mechanism 501 for driving the vertical translation ofthe gantry 40 may be located on the support column 801. The first drivemechanism 501 may comprise a linear actuator, such as a lead screw orball screw system. As shown in FIGS. 5A and 5D, a threaded shaft 509 mayextend lengthwise within the first interior housing 505 of the supportcolumn 801. A motor 511, which may be located in the second interiorhousing 507 of the support column 801, may be geared into the threadedshaft 509 to drive the rotation of the shaft 509. In one embodiment, themotor 511 may drive a toothed belt 513 that may engage with a sprocketwheel 515 to drive the rotation of the threaded shaft 509. An arm 517may extend from the carriage 807 into the first interior housing 505(e.g., through the opening 811 shown in FIG. 2A). A nut 519 on the endof the arm 517 may engage with the threaded shaft 509. The rotation ofthe threaded shaft 509 may cause the nut 519 to reciprocate up and downalong the length of the shaft 509. The reciprocation of the nut 519 onthe shaft 509 may drive the vertical displacement of the carriage 807and gantry 40 with respect to the support column 801. A controller 810(see FIG. 4A) may control the operation of the first drive mechanism 501and thereby control the vertical displacement of the gantry 40. Thecontroller may receive position feedback signals indicative of theposition of the gantry 40 along the support column 801, such as from alinear encoder.

The first drive mechanism 501 may be non-backdrivable under normaland/or rated operating loads (which could be, for example, up to about6500 lbs.). This may provide improved safety of the system 100. Inembodiments, the first drive mechanism 501 may include anon-backdrivable lead screw. Alternately, the first drive mechanism 501may be a backdrivable actuator, such as a ball screw. An additionalsafety mechanism, such as a spring-set brake, may be utilized to preventbackdriving under load.

The second drive mechanism 503 for driving the rotation of the gantry 40relative to the support column 801 may be located on the carriage 807.In the embodiment of FIGS. 5A-5D, a motor 521 may be attached to oneside of the carriage 807. The motor 521 may be geared into a sprocketwheel 523 that is adjacent to the outer race 527 of a rotary bearing525. The outer race 527 of the bearing 525 may be attached to the gantry40 and the inner race 529 of the bearing 525 may be attached to thecarriage 807. A toothed belt 531 may extend over at least a portion ofthe outer circumference of the outer race 527 and may engage with atoothed surface of the outer race 527. The belt 531 may be looped overthe sprocket wheel 523 that is driven by the motor 521 such that therotation of the sprocket wheel 523 in a clockwise or counterclockwisedirection causes a corresponding rotation of the outer race 527 andgantry 40 relative to the inner race 529, carriage 807 and supportcolumn 801. The second drive mechanism 503 preferably includes minimallash between the belt 531, sprocket wheel 523 and toothed surface of theouter race 527 to enable precise rotational control of the gantry 40. Inembodiments, the belt 531 may not be continuous, and opposing ends ofthe belt 531 may be bolted or clamped to the outer race 537 to minimizeslippage and/or backlash. In embodiments, the belt 531 may be clamped toenable at least about 270°, including about 300° or more, of rotation ofthe gantry 40 relative to the support column 801. In some embodiments, abrake system may be selectively engaged to hold the rotational (tilt)position of the gantry 40 (e.g., during a scan). The controller 810 (seeFIG. 10A) may control the operation of the second drive mechanism 503and thereby control the rotational displacement of the gantry 40. Thecontroller may receive position feedback signals indicative of therotational position of the gantry 40 with respect the support column801, such as from a rotary encoder.

FIGS. 6A-6B illustrate a base 802 of a multi-axis imaging system 100according to an embodiment. The base 802 may include a generallyrectangular support frame 602. A pair of parallel support rails 603, 605may extend lengthwise along the base 802. The support rails 603, 605 maysupport the support column 801 and inhibit deflection as the supportcolumn 801 traverses along the length of the base 802. A pair of guiderails 607, 609 may extend along a bottom surface of the base 802 and maybe parallel to the support rails 603, 605. A platform 611 may be locatedover the support rails 603, 605. The support column 801 may be attached(e.g., screwed or bolted) to the upper surface of the platform 611. Theplatform 611 may include bearing elements (e.g., bearing slides) thatengage with the guide rails 607, 609 to provide linear motion of theplatform 611, support column 801 and gantry 40 along the length of thebase 802.

The third drive mechanism 601 for driving the horizontal translation ofthe gantry 40 and support column 801 may be located on the base 802. Thethird drive mechanism 601 may comprise a motor 613 that may be attachedto the platform 611. The motor 613 may be geared into a sprocket wheel615. A drive belt 617 may extend lengthwise along the bottom surface ofthe base 802. A portion of the drive belt 617 adjacent to the platform611 may be looped over and engage with the sprocket wheel 615 that isdriven by the motor 613. The driving of the sprocket wheel 615 by themotor 613 may cause the sprocket wheel 615 and platform 611 to traverseup and down the length of the drive belt 617, thereby driving thetranslation of the platform 611, support column 801 and gantry 40 alongthe length of the base 802. The controller 810 (see FIG. 4A) may controlthe operation of the third drive mechanism 601 and thereby control thetranslation of the gantry 40 and support column 801 relative to thebase. The controller 810 may receive position feedback signalsindicative of the translational position of the gantry 40 and supportcolumn 801 on the base 802, such as from a linear encoder.

The base 802 may include a cover 619 to protect the internal componentsof the base 802. The cover 619 may be made of a flexible material andmay be wound on a spool 621 as shown in FIG. 6A. The spool 621 may beenclosed within a housing 623 located at an end of the base 802. One endof the cover 619 may be attached to the platform 611 and/or the supportcolumn 801 (e.g., using hooks or similar attachment mechanism). Thespool 621 may be spring-loaded to maintain a suitable tension on thecover 619. As the support column 801 translates away from the housing623, the cover 619 may be extended from the housing 623 by being unwoundfrom the spool 621 and as the support column translates towards thehousing 623 the cover 619 may be retracted into the housing 623 by beingwound onto the spool 621 (e.g., similar to the operation of a rollershade for windows). The base 802 may include a pair of covers 619attached to opposite sides of the support column 801, where the covers619 extend and retract from opposite sides of the base 802 as thesupport column 801 translates. FIGS. 1-4C illustrate the base withextending/retracting covers 619 attached to the support column 801.

FIGS. 7A-7E illustrate a gantry 40 of a multi-axis imaging system 100according to an embodiment. FIG. 7A is an exploded view of a gantry 40that illustrates an outer shell 42 of the gantry, a rotor 41 and abearing assembly 700. The outer shell 42 may comprise a high-strengthstructural material, such as aluminum. The outer shell 42 may have anouter circumferential wall 406 that may extend around the periphery ofthe gantry 40 to enclose the rotating components of the gantry 40 (e.g.,x-ray source, detector, etc.), which may be attached to the rotor 41.The outer shell 42 may also include a side wall 412 that may extend fromthe outer circumferential wall 406 to a bore 116 of the gantry 40 andmay enclose the rotating components around one side of the rotatingportion. The side wall 412 may form a first outer face 702 of the gantry40 and may at least partially define the size of the bore 116 of thegantry. A lip portion 701 may extend from the outer circumferential wall406 around the interior periphery of the gantry shell 42. The lipportion 701 may provide a mounting surface of the bearing assembly 700,as described further below. The lip portion 701 may be offset from thesecond outer face 704 of the gantry 40 by a distance sufficient toaccommodate at least a portion of the bearing assembly 700 inside theouter circumferential wall 406 of the gantry shell 42.

The outer shell 42 of the gantry 40 is shown in a partial cutaway viewthrough the outer circumferential wall 406 in FIG. 7A. As shown in FIG.7A, the outer circumferential wall 406 may have a larger cross-sectionthickness at a proximal end 706 of the gantry 40 where the gantry 40 isattached to the support column 801 than at the distal or unsupported end708 of the gantry 40. The proximal end 706 of the gantry 40 may includea generally circular-shaped flange portion 710 that may be attached tothe outer race 527 of the rotary bearing 525 shown in FIGS. 5A-5D.

One or more openings 712 may be provided through the outercircumferential wall 406 as shown in FIG. 7A. The openings 712 mayprovide air-flow cooling of the components within the gantry 40. In oneembodiment, a first set of one or more openings 712 a may be located atthe proximal end 706 of the gantry 40 and a second set of one or moreopenings 712 b may be located at the distal end 708 of the gantry 40.One or more fans (not illustrated) may be located adjacent to the secondset of opening(s) 712 b and may operate to suck ambient air in throughthe first set of opening(s) 712 a, over the components within the gantry40 and out through opening(s) 712 b. Alternately or in addition, one ormore fans may be located adjacent to the first set of opening(s) 712 aand may blow air through the gantry 40 and out through opening(s) 712 b.In further embodiments, the direction of airflow may be reversed, suchthat air is sucked into the gantry 40 through opening(s) 712 b and exitsthe gantry 40 through openings 712(a).

The bearing assembly 700 according to one embodiment is shown in FIGS.7A and 7C. FIG. 7A is an exploded view showing the bearing assembly 700attached to the rotor 41. FIG. 7C illustrates the assembled gantry 40 ina partial cut-away view showing the bearing assembly 700 attached to therotor 41 and to the gantry shell 42. As shown in FIG. 7C, the bearingassembly 700 includes a first race 703 that is attached to the lipportion 701 of the outer shell 42 of the gantry 40, and a second race705 that is attached to the rotor 41. A bearing element is providedbetween the first race 703 and the second race 705, and is configured toallow the second race 705 (along with the rotor 41 to which it isattached) to rotate concentrically within the first race 703, preferablywith minimal friction, thereby enabling the rotor 41 to rotate withrespect to the outer shell 42 of the gantry 40. In the embodiment ofFIGS. 7A and 7C, the second race 705 may be a separate component that isfirmly secured around the outer circumference of the rotor 41 (e.g.,using mechanical fasteners). Alternately, the second race 705 may beformed as an integral part of the rotor 41.

In various embodiments, the first race 703 of the bearing assembly 700may be mounted to the outer shell 42 of the gantry 40 using a limitedsuspension system. The suspension system may be configured toaccommodate a limited amount of bending/deflection of the cantileveredgantry 40 between the proximal 706 and distal 708 ends of the gantry 40while ensuring that the bearing assembly 700 rotates within a plane. Thepresent inventors have discovered that attaching an imaging gantry 40 toa support structure 801 at only one end of the gantry 40 in acantilevered manner may result in a small amount of deflection orbending of the gantry 40 due to the gravity-induced bending moment ofthe gantry 40. When the gantry 40 is rotated out-of-line with thevertical support column 801, such as for performing a vertical scan asshown in FIGS. 2A-2C or a scan along a tilted axis as shown in FIGS.3A-3C, the direction of gantry 40 deflection may include a componentthat is normal to the scan plane of the imaging components (e.g., x-raysource and detector) rotating within the gantry 40. This downward curveor bend of the gantry and bearing on which the rotating componentsrotate may introduce a sufficiently large “wobble” effect to thesecomponents as they rotate between the proximal 706 and distal 708 endsof the gantry 40 to negatively affect image quality of the scan.

Various embodiments include a limited suspension system between thegantry shell 42 and the bearing assembly 700 to provide a small amountof compliance between these components in the direction of gantrydeflection such that the bearing assembly 700 may continue to rotate ina plane when the gantry shell 42 is subject to gravity-induceddeflection. In the embodiment of FIGS. 7A-7E, this may be achieved byattaching the bearing assembly 700 to the gantry shell 42 at a limitednumber of attachment points and allowing the portion of the bearingassembly 700 proximate to the distal end 708 of the gantry 40 toeffectively “float” over a limited range with respect to the gantryshell 42. In the embodiment of FIGS. 7A-7E, the lip portion 701 of thegantry shell 42 is attached to the first race 703 of the bearingassembly 700 in four locations around the periphery of the gantry 40. Itwill be understood that the disclosed embodiment is merely exemplary andvarious embodiments may include more than or less than four attachmentspoints between the gantry shell 42 and the bearing assembly 700.

In the embodiment of FIGS. 7A-7E, the lip portion 701 of the gantryshell 42 may be fastened to the first race 703 of the bearing assembly700 in two locations 707 a, 707 b that are more proximate to theproximal end 706 of the gantry 40 than to the distal end 708 of thegantry 40. The two locations 707 a, 707 b are visible in FIG. 7C. Thetwo locations 707 a, 707 b may be located on opposite sides of thegantry 40 and may be equidistant from the proximal end 706 of the gantry40. The lip portion 701 may be rigidly fastened to the first race 703 atlocations 707 a, 707 b using mechanical fasteners, such as a screw 709that may pass through an opening 714 in the lip portion 701 and into anopening 716 (e.g., a threaded opening) in first race 703. A pair ofwashers 711 a, 711 b may be located between the bottom surface of thelip portion 701 and the top surface of the first race 703 and betweenthe top surface of the lip portion 701 and the head of the screw/bolt709, respectively. The screw 709 may be tightened against the topsurface of the lip portion 701 (via washer 711 b) to rigidly andsecurely attach the lip portion 701 to the first race 703 at locations707 a, 707 b, as shown in the cross-section view of FIG. 7D. Washer 711a may provide a small gap between the bottom surface of the lip portion701 and the top surface of the first race 703, as shown in FIG. 7D.

The bearing assembly 700 may be suspended from the gantry shell 42 attwo additional locations 713 a, 713 b that are more proximate to thedistal end 708 of the gantry 40 than to the proximal end 706 of thegantry 40. FIGS. 7A-7C and 7E illustrate the attachment of the lipportion 701 of the gantry shell 42 to the first race 703 of the bearingassembly 700 at location 713 a. The lip portion 701 may be attached tothe first race 703 at location 713 b in the same or similar fashion asshown in FIGS. 7A-7C and 7E. Location 713 b may be located on theopposite side of the gantry 40 from location 713 a. Locations 713 a and713 b may be equidistant from the distal end 708 of the gantry 40. Inembodiments, attachment locations 707 a and 713 a may extend along asecant line 720 of the circular gantry 40. The secant line 720 may beparallel to a midline of the gantry 40 extending from the proximal end706 to the distal end 708 of the gantry 40. Attachment locations 707 band 713 a may extend along a second secant line of the gantry 40, wherethe second secant line may also be parallel to the midline extendingbetween the proximal 706 and distal ends 708 of the gantry 40. The firstand second secant lines may be equidistant from the midline.

FIG. 7B is an exploded view of the components used to attach the lipportion 701 to the first race 703 at location 713 a. FIG. 7E is across-section view showing the lip portion 701 attached to the firstrace 703 at location 713 a. As shown in FIGS. 7B and 7E, the lip portion701 and first race 703 may be attached using a mechanical fastener, suchas a screw 715, that may be similar or identical to the screw 709 usedto fasten the lip portion 701 to the first race 703 at locations 707 a,707 b. The screw 709 may pass through a relatively large diameteropening 717 in the lip portion 701 of the gantry shell 42. A metal(e.g., steel) plate 719 having a slot 721 may be attached to the bottomsurface of the lip portion 701 using mechanical fasteners (e.g., screwsor bolts). The bottom surface of the lip portion 701 may include arecess surrounding the opening 717 to accommodate the plate 719. Theslot 721 may be oriented along the direction of gravity-induceddeflection of the cantilevered gantry 40. For example, the slot 721 mayextend along the secant line 720 of the gantry 40 that intersectsattachment locations 707 a and 713 a.

A bushing 723, which may be a bronze bushing, may be located within theslot 721 of the plate 719. The bushing 723 may be dimensioned slightlysmaller than the slot 721 along the length of the slot 721 so that thereis some degree of compliance between the bushing 723 and the plate 719in the direction of gantry deflection. This is illustrated in thecross-section view of FIG. 7E. There may be less compliance between thebushing 723 and the plate 709 along the width of the slot 721. Thus, thebushing 723 may be held tight between the side walls of the slot 721when the gantry 40 is rotated up into the configuration of FIGS. 3A-3C(e.g., for performing a horizontal scan). A first washer 725, which maybe a bronze washer, may be located between the bottom surface of theplate 719 and the top surface of the first race 703, and may surround acentral opening 724 through the bushing 723. A second washer 727, whichmay also be a bronze washer, may be located on the top surface of theplate 719 and may surround the central opening 724 through the bushing723. A Belleville spring washer 729 may be located above the secondwasher 727 and may surround the central opening 724 through the bushing723. A third washer 731, which may be a steel washer, may be locatedabove the Belleville spring washer 729.

The screw 715 may be inserted through the third (e.g., steel) washer731, the Belleville spring washer 729, the second (e.g., bronze) washer727, the central opening 724 of the bushing 723 and the first (e.g.,bronze) washer 725 and into an opening 730 (e.g., a threaded opening) infirst race 703. The screw 715 may be fastened against the top surface ofthe plate 719 (via washers 731, 729 and 727) to attach the plate 719 tothe first race 703 at location 713 a, as shown in FIG. 7E. The plate 719may be sandwiched between the first and second washers 725 and 727. Thespring washer 729 may be pre-loaded to maintain the entire stack incompression. The plate 719 may be separated from the top surface of thefirst race 703 by a gap 733 defined by the first washer 725. A secondgap 735 may separate the bottom surface of the lip portion 701 from thetop surface of the first race 703 as shown in FIG. 7E.

The attachment configuration shown in FIGS. 7B and 7E may provide asecure attachment between the gantry shell 42 and the first race 703 ofthe bearing assembly 700 while allowing the gantry shell 42 to bend ordeflect over the bearing assembly without transferring any bend orcurvature in the gantry shell 42 to the bearing assembly 700. This maybe achieved by suspending the bearing assembly 700 from the gantry shell42 in a limited number of attachment locations that are sufficientlyspaced to adequately support the bearing assembly 700 and the rotor 41as it rotates within the gantry 40. This contrasts with prior attachmenttechniques in which the bearing assembly 700 is rigidly secured to thegantry shell 42 at regular intervals (e.g. every 15-30° or so) aroundthe periphery of the gantry 40. In addition, the gap 735 providedbetween the lip portion 701 and the first race 703 at the distal-mostattachment points 713 a, 713 b may be sufficient to prevent the lipportion 701 from imparting a bending force on the first race 703 at thedistal end 708 of the gantry 40. Thus, bearing assembly 700 may remainflat over the entire gantry 40 even when the gantry shell 42 bends dueto gravity.

This is schematically illustrated in FIG. 8 , which is a side view of acantilevered gantry 40 mounted to a support column 801. It will beunderstood that FIG. 8 is not necessarily to scale and is intended toprovide an exaggerated view of the amount of bending of the gantry 40.For example, for an x-ray CT system, the amount of gantry deflectionbetween the fixed (proximal) and free (distal) ends of the gantry may be1-2 mm or less. As shown in FIG. 8 , by suspending the bearing assembly700 for the rotor from the gantry shell 42 at a plurality ofspaced-apart locations as described above, the bearing assembly 700 isnot influenced by the curvature of the gantry shell 42. Thus, thebearing assembly 700 and the rotor may rotate in a plane 880, asillustrated by the dashed line. The plane 880 of rotation of the bearingassembly 700 and rotor may be tilted from a horizontal plane, as shownin FIG. 8 . This tilt may be corrected for in the software used toprocess the image data obtained by the imaging system.

Alternately or in addition, the tilt angle of the plane of rotorrotation may be compensated for by mounting the gantry 40 at an anglewith respect to the support column 801. For example, the carriage 807 towhich the gantry 40 is attached may have an angled front surface thatcompensates for the tilt angle of the rotor so that the scan plane ishorizontal.

FIG. 9 illustrates a rotor 41 for an x-ray CT imaging system having aplurality of components mounted thereto. The system may be a multi-axissystem 100 as described above. The rotor 41 may rotate within a gantry40, and may be mounted within the gantry 40 on a bearing assembly 700 asdescribed above with reference to FIGS. 7A-7E. In particular, the rotor41 may be mounted to the second race 705 of the bearing assembly 700shown in FIG. 7C using suitable fasteners, such as bolts or screws.

The rotor 41 shown in FIG. 9 includes an x-ray source 43, a high-voltagegenerator 44, a heat exchanger 430, an x-ray detector 45, a power supply63 (e.g., battery system), a computer 46, a rotor drive mechanism 47,and a docking system 35 (e.g., for providing intermittent power/dataconnection between rotating and non-rotation portions of the system). Itwill be understood that the components described and illustrated aremerely exemplary, and other embodiments may omit one or more of thesecomponents and may utilize other additional components. For example, inembodiments, power for the rotating portion 101 may be provided by aslip ring or cable system, so that a power supply 63 on the rotatingportion 101 may not be needed. In some embodiments, power and/or datamay be continuously transferred between the rotating and non-rotatingportions via cable, slip ring or wirelessly, in which case the powersupply 63, computer 46 and/or docking system 35 may not be included.Further, the rotation of the rotor may be provided by a drive system onthe non-rotating portion, in which case the rotor drive mechanism 47 onthe rotor 41 may not be included. Also, it will be understood that othertypes of imaging systems, such as MRI systems, may use other suitablecomponents for imaging, as are known in the art.

In embodiments, the x-ray source 43 and detector 45 may be configured toperform a helical x-ray CT scan. The detector 45 may comprise aplurality of x-ray sensitive detector elements arranged in asemicircular arc, with the arc center coinciding with the focal spot ofthe x-ray source. In some embodiments, the x-ray detector may be a flatpanel detector, and the system may be configured to perform real timex-ray fluoroscopic and/or cone beam imaging of an object within the boreof the gantry.

In the embodiment of FIG. 9 , during an imaging scan, the rotor 41rotates within the interior of the gantry, while the imaging componentssuch as the x-ray source 43 and x-ray detector 45 obtain imaging datafor an object positioned within the bore 116 of the gantry, as is known,for example, in conventional X-ray CT scanners. The rotor drivemechanism 47 may drive the rotation of the rotor 41 around the interiorof the gantry 40. In embodiments, the rotor drive mechanism 47 mayinclude a drive wheel 901 that engages with a belt 903. The belt 903 mayextend around the gantry 40 on a circular rail 905 that may be fixed tothe side wall 412 of the gantry shell 42 (see FIG. 7A). The rotor drivemechanism 47 may be controlled by a system controller that controls therotation and precise angular position of the rotor 41 with respect tothe gantry 40, preferably using position feedback data, such as from anencoder device.

FIGS. 10A-10K illustrate methods of operating an imaging system 100 toperform an imaging scan of a patient 105 according to variousembodiments. The patient 105 may be located on a patient support 813(e.g., a patient table) as described above. A control system 1001 (e.g.,a processor and memory) may be operatively coupled to the patientsupport 813, as schematically illustrated in FIG. 10A. The controlsystem 1001 may be located partially or completely within the patientsupport 813 (e.g., within the linkage member 821) and/or within one ormore separate components, such as a workstation, the imaging system 100or a mobile cart. The control system 1001 may receive position feedbackdata (e.g., rotary encoder data) from the patient support 813 and maysend control signals to the motor(s) of the patient support 813 to causethe motor(s) to move the patient support 813 into a desiredconfiguration. The configuration of the patient support 813 may be apre-set configuration (e.g., stored in the memory of the control system1001) and/or the configuration may be controllably adjusted by a userusing a suitable user input device (e.g., buttons, joystick, pendantcontroller, computer keyboard and/or mouse, touchscreen display, etc.).

The multi-axis imaging system 100 may also include a control system 810(e.g., a processor and memory). The control system 810 may be coupled toand control the operation of the first drive mechanism 501, the seconddrive mechanism 503 and the third drive mechanism 601 to cause therelative translation and rotation of the gantry 40 with respect to thesupport column 801 and base 802 as described above. The control system810 may also receive position feedback signals indicative of therelative positions and orientations of the gantry 40, support column 801and base 802, such as from one or more encoders. The control system 810may also control the operation of the imaging components within thegantry 40, and may for example, issue command signal(s) to perform animaging scan.

The control system 810 may be located within the multi-axis imagingsystem 100, such as within the support column 801 and/or within one ormore separate components, such as a workstation or a mobile cart. Insome embodiments, the control system 810 for the multi-axis imagingsystem 100 may be co-located with the control system 1001 of the patientsupport 813. For example, control systems 810 and 1001 may beimplemented as separate processes (e.g., software applications) whichrun on the same computing device.

The control system 810 for the multi-axis imaging system 100 may becoupled to the control system 1001 for the patient support 813 via acommunication link 1003. The communication link 1003 may enable thecontrol system 1001 for the patient support 813 to transmit dataregarding the configuration of the patient support 813 to the controlsystem 810 for the multi-axis imaging system 100. In embodiments, thecommunication link 1003 may be a bi-directional link, and the controlsystem 810 for the multi-axis imaging system 100 may send data to thecontrol system 1001 for the patient support 813 indicating theconfiguration of the multi-axis imaging system 100.

In various embodiments, the control systems 810, 1001 for the multi-axisimaging system 100 and the patient support 813 may communicate overcommunication link 1003 so that each of these components may always knowwhere the other one is relative to it. This may provide an importantsafety feature to prevent the imaging system 100 from colliding with thepatient support 813 or a patient supported thereon. In embodiments, themulti-axis imaging system 100 and the patient support 813 may be“electronically geared” such that a movement of one of these componentsmay cause a pre-determined counter-movement of the other component. Inone embodiment, the control system 1001 for the patient support 813 maybe the “master” controller and the control system 810 for the imagingsystem 100 may be the “slave” controller. In other words, a movement ofthe patient support 813 may cause the control system 810 of the imagingsystem 100 to control the system 100 to make a correspondingcounter-move.

FIGS. 10A-10K illustrate various motions of the patient support 813 andmulti-axis imaging system 100. In FIG. 10A, the patient support 813 maybe in a position for loading or unloading of a patient. The imagingsystem 100 may be in a standby or “home” position with the supportcolumn 801 and gantry 40 translated away from the patient support 813.The gantry 40 may be rotated in-line with the support column 801. Thestandby or “home” position of the imaging system 100 may inhibit acollision between the imaging system 100 and the patient or the patientsupport 813. The patient support 813 in various embodiments may belowered to a position as shown in FIG. 10A so that the second portion817 of the patient support 813, which can support the patient in a lyingposition, is at a comfortable height for loading and unloading of thepatient. For example, the second portion 817 may be at a height of nomore than about 50 cm, such as between 30 and 40 cm from the floor. Thismay allow a patient to easily climb onto or be lowered down onto thepatient support 813, which may be convenient and safe for both thepatient and the medical staff members.

The patient support 813 may then be raised from the lowered position ofFIG. 10A to a height suitable for an imaging scan (e.g., such that thepatient support 813 may be positioned within the bore of the gantry 40).FIG. 10B illustrates the patient support 813 raised such that it isaligned with the bore of the gantry 40. In this configuration, theimaging system 100 is ready to perform a horizontal scan of a patient ina lying position. The patient support 813 may be raised or lowered to asuitable height for performing a scan. FIG. 10C illustrates the patientsupport 813 raised to a maximum height for performing a scan of apatient supported in a horizontal lying position. The control system 810of the imaging system 100 may send control signals to the first drivemechanism 501 to cause the gantry 40 to translate vertically on thesupport column 801 in coordination with the movement of the patientsupport 813 so that the bore of the gantry 40 remains aligned with thesecond portion 817 of the patient support 813. In some embodiments, thecontrol system 810 of the imaging system 100 may also send controlsignals to the third drive mechanism 601 to cause the support column 801and gantry 40 to translate along the base 802 to maintain apre-determined separation between the gantry 40 and the tip end of thesecond portion 817 of the patient support 813 as the patient support 813is raised and/or lowered. In some embodiments, gantry 40 may move tomaintain the outer face of the gantry 40 separated from the tip end ofthe of the second portion 817 of the patient support 813. Alternately,the gantry 40 may move to maintain the tip end of the second portion 817at least partially inside the bore of the gantry 40.

When the patient support 813 is moved to a desired configuration, thecontrol system 1001 of the patient support 813 may send a signal to thecontrol system 810 of the imaging system 100 indicating that the systemis ready to perform a scan. The control system of the imaging system 100may send control signals to the third drive mechanism 601 to cause thesupport column 801 and gantry 40 to translate along the base 802 andover the patient support 813 to perform a scan in a horizontaldirection, as shown in FIG. 10D. In some embodiments, the patientsupport 813 may be prohibited from moving until the scan is complete.

To perform a scan along a tilted axis such as shown in FIGS. 4A-4C, thepatient support 813 may be pivoted upwards as shown in FIGS. 10E and10F. In response to the movement of the patient support 813, the controlsystem 810 of the imaging system 100 may control the first, second andthird drive mechanisms 501, 503, 601 to perform a coordinated motion ofthe gantry 40 as shown in FIGS. 10E and 10F. In particular, the seconddrive mechanism 503 may rotate the gantry 40 relative to the supportcolumn 801 to maintain the bore axis of the gantry 40 aligned with thetilt angle of the patient support 813. The first and third drivemechanisms 501 and 601 may translate the gantry 40 in both a verticaland horizontal direction to maintain the bore of the gantry 40 inalignment with the tip end of the patient support 813. The gantry 40 maymaintain a pre-determined separation distance from the tip end of thepatient support 813 as it follows the position of the patient support813. In some embodiments, gantry 40 may move to maintain the outer faceof the gantry 40 separated from the tip end of the of the second portion817 of the patient support 813. Alternately, the gantry 40 may move tomaintain the tip end of the second portion 817 at least partially insidethe bore of the gantry 40.

When the patient support 813 is moved to a desired tilt angle, thecontrol system 1001 of the patient support 813 may send a signal to thecontrol system 810 of the imaging system 100 indicating that the systemis ready to perform a scan. The control system of the imaging system 100may send control signals to the first and third drive mechanisms 501 and601 to perform a coordinated vertical and horizontal translation of thegantry 40 and perform a scan along a tilted axis, as shown in FIG. 10G.In some embodiments, the patient support 813 may be prohibited frommoving until the scan is complete.

To perform a scan in a vertical direction such as shown in FIGS. 2A-2C,the patient support 813 may be pivoted upwards as shown in FIGS. 10H and10I. In response to the movement of the patient support 813, the controlsystem 810 of the imaging system 100 may control the first, second andthird drive mechanisms 501, 503, 601 to perform a coordinated motion ofthe gantry 40 as shown in FIGS. 10H and 10I. In particular, the seconddrive mechanism 503 may rotate the gantry 40 relative to the supportcolumn 801 to maintain the bore axis of the gantry 40 aligned with thetilt angle of the patient support 813. The first and third drivemechanisms 501 and 601 may translate the gantry 40 in both a verticaland horizontal direction to maintain the bore of the gantry 40 inalignment with the tip end of the patient support 813. The gantry 40 maymaintain a pre-determined separation distance from the tip end of thepatient support 813 as follows the motion of the patient support 813. Insome embodiments, gantry 40 may move to maintain the outer face of thegantry 40 separated from the tip end of the of the second portion 817 ofthe patient support 813. Alternately, the gantry 40 may move to maintainthe tip end of the second portion 817 at least partially inside the boreof the gantry 40.

When the patient support 813 is moved to vertical orientation as shownin FIG. 101 , the control system 1001 of the patient support 813 maysend a signal to the control system 810 of the imaging system 100indicating that the system is ready to perform a vertical scan. Thecontrol system of the imaging system 100 may send control signals to thefirst drive mechanism 501 to translate the gantry 40 down the length ofthe patient support 801 to perform a vertical scan of the patient, asshown in FIG. 10J. In some embodiments, the patient support 813 may beprohibited from moving until the scan is complete.

In some embodiments, the patient support 813 may be moved to anyarbitrary angle, and may enable the patient to be supported inTrendelenburg and/or reverse Trendelenburg positions. FIG. 10K shows thepatient support 813 tilted down from a horizontal position to support apatient in a Trendelenburg configuration. The gantry 40 may be tilted onthe support column 801 in the opposite direction from the patientsupport 813, as shown in FIG. 10K. This may enable imaging of thepatient through a variety of different anatomic planes, including, forexample, a generally coronal plane (e.g., within ˜30° of the coronalplane) through at least a portion of the patient's anatomy. This may beuseful, for example, for ENT CT scans of the sinus and/or ears. Also, inbrachytherapy, the patient support 813 and gantry 40 may be tilted to aconfiguration to enable scanning of the prostate region without needingto scan through the patient's femur.

Further embodiments include a multi-axis imaging system 100 that may beutilized for veterinary medicine. A multi-axis imaging system 100 may beused to perform imaging scans of animals, including large animals (e.g.,livestock) and/or equine species, in a weight-bearing standing position.An example of the system 100 is shown in FIGS. 11A-11C. The system 100in this embodiment is located on a mobile trailer 1101. However, it willbe understood that the system 100 may be a fixed system located in aveterinary hospital/clinic, or another location such as a farm, ranch orzoo. The system 100 includes an imaging gantry 40 attached to a supportcolumn 801 in a cantilevered manner, as described above. The gantry 40may be rotatable with respect to the support column 801 and may alsotranslate along the length of the support column 801 in a verticaldirection. Although not visible in FIGS. 11A-11C, the system 100 mayalso include a base 802 that supports the support column 801 and gantry40, and the support column 801 and gantry 40 may be translatable withrespect to the base 802 in a horizontal direction. The system 100 mayfurther include a support stage 1103. An animal 1105, such as a horse asshown in FIGS. 11A-11C, may be positioned on the top surface 1109 of thesupport stage 1103. One or more ramp portions 1107 may enable the animal1105 to easily climb up and down from the top surface 1109. A cavity1111 may be provided in the support stage 1103 for housing the gantry40, as shown in FIG. 11A. The cavity 1111 may have a shape thatcorresponds with the shape of the gantry 40. When the gantry 40 islowered into the cavity 1111, the outer side wall of the gantry 40 maybe flush with the top surface 1109.

The gantry 40 may be raised up from the cavity 1111 to perform avertical scan of the legs of the animal 1105 standing on the supportstage 1103, as shown in FIG. 11B. An actuator system may optionallyraise the bottom surface 1113 of the cavity 1111 up even with the topsurface 1109 of the support stage 1103 in coordination with the raisingof the gantry 40. This may prevent the animal 1105 from accidentallystepping into the cavity 1111. Following the scan, the gantry 40 may belowered back into the cavity 1111, and the animal 1105 may climb downfrom the support stage 1103.

FIG. 11C illustrates the multi-axis imaging system 100 performing a scanof the neck of a standing animal 1105. The gantry 40 is raised out ofthe cavity 1111 and positioned such that the neck of the animal 1105 islocated within the bore of the gantry. A control system for the imagingsystem 100 may control the system to perform a coordinated verticaltranslation of the gantry 40 along the support column 801 and ahorizontal translation of the gantry 40 and support column 801 along thebase 802 to scan along the neck of the animal 1105.

Various examples of diagnostic imaging applications that may beperformed on a human or animal patient in a weight-bearing positionusing an embodiment multi-axis imaging system 100 include, withoutlimitation:

Imaging the bones of a foot. The three-dimensional relationships of thebones in the foot in a flatfoot deformity are difficult to assess withstandard radiographs. CT scans demonstrate these relationships but aretypically made in a non-weightbearing mode. The use of a weightbearingCT or other imaging apparatus may be useful in imaging the feet inpatients with severe flexible pesplanus deformities and to better definethe anatomical changes that occur.

Imaging of a limb (e.g. leg). Weight-bearing (CT) bilateral long leg hipto ankle examination and non-weight bearing cross-sectional imaging (CT)of the affected limb may be performed on the hip, knee and ankle, forexample, and may be useful for determining variations in angulation andalignment accuracy for diagnosis and/or surgical planning.

Imaging of a spine. Weight bearing scanning (e.g., CT scanning) may beuseful for improvements in the accurate diagnosis of degenerative spinaldisorders by scanning a patient in the “real life” standing position. Byscanning in the standing position, the spinal disc and facet jointcompresses, which may enable more specific and precise diagnosis ofdegenerative spine disorders.

Imaging of a joint (e.g., knee). Weight bearing scanning (e.g., CTscanning) of the knee may enable more specific and precise diagnosis ofthe patella-femoral kinematics and may also be useful in surgicalplanning.

Angiography. Weight bearing angiography (e.g., CT angiography) mayenable more accurate diagnosis, and may be used, for example, to examinethe pulmonary arteries in the lungs to rule out pulmonary embolism, aserious but treatable condition. Weight bearing angiography may also beused to visualize blood flow in the renal arteries (those supplying thekidneys) in patients with high blood pressure and those suspected ofhaving kidney disorders. Narrowing (stenosis) of a renal artery is acause of high blood pressure (hypertension) in some patients and can becorrected. A special computerized method of viewing the images makesrenal CT angiography a very accurate examination. This is also done inprospective kidney donors. Weight bearing angiography may also be usedto identify aneurysms in the aorta or in other major blood vessels.Aneurysms are diseased areas of a weakened blood vessel wall that bulgesout—like a bulge in a tire. Aneurysms are life-threatening because theycan rupture. Weight bearing angiography may also be used to identifydissection in the aorta or its major branches. Dissection means that thelayers of the artery wall peel away from each other—like the layers ofan onion. Dissection can cause pain and can be life-threatening. Weightbearing angiography may also be used to identify a small aneurysm orarteriovenous malformation inside the brain that can belife-threatening. Weight bearing angiography may also be used to detectatherosclerotic disease that has narrowed the arteries to the legs.

FIG. 12 is a system block diagram of a computing device 1300 useful forperforming and implementing the various embodiments described above. Thecomputing device 1300 may perform the functions of a control system 810for a multi-axis imaging system 100 and/or a control system 1001 for apatient support 813, for example. While the computing device 1300 isillustrated as a laptop computer, a computing device providing thefunctional capabilities of the computer device 1300 may be implementedas a workstation computer, an embedded computer, a desktop computer, aserver computer or a handheld computer (e.g., tablet, a smartphone,etc.). A typical computing device 1300 may include a processor 1301coupled to an electronic display 1304, a speaker 1306 and a memory 1302,which may be a volatile memory as well as a nonvolatile memory (e.g., adisk drive). When implemented as a laptop computer or desktop computer,the computing device 1300 may also include a floppy disc drive, compactdisc (CD) or DVD disc drive coupled to the processor 1301. The computingdevice 1300 may include an antenna 1310, a multimedia receiver 1312, atransceiver 1318 and/or communications circuitry coupled to theprocessor 1301 for sending and receiving electromagnetic radiation,connecting to a wireless data link, and receiving data. Additionally,the computing device 1300 may include network access ports 1324 coupledto the processor 1301 for establishing data connections with a network(e.g., LAN coupled to a service provider network, etc.). A laptopcomputer or desktop computer 1300 typically also includes a keyboard1314 and a mouse pad 1316 for receiving user inputs.

The foregoing method descriptions are provided merely as illustrativeexamples and are not intended to require or imply that the steps of thevarious embodiments must be performed in the order presented. As will beappreciated by one of skill in the art the order of steps in theforegoing embodiments may be performed in any order. Words such as“thereafter,” “then,” “next,” etc. are not necessarily intended to limitthe order of the steps; these words may be used to guide the readerthrough the description of the methods. Further, any reference to claimelements in the singular, for example, using the articles “a,” “an” or“the” is not to be construed as limiting the element to the singular.

The various illustrative logical blocks, modules, circuits, andalgorithm steps described in connection with the embodiments disclosedherein may be implemented as electronic hardware, computer software, orcombinations of both. To clearly illustrate this interchangeability ofhardware and software, various illustrative components, blocks, modules,circuits, and steps have been described above generally in terms oftheir functionality. Whether such functionality is implemented ashardware or software depends upon the particular application and designconstraints imposed on the overall system. Skilled artisans mayimplement the described functionality in varying ways for eachparticular application, but such implementation decisions should not beinterpreted as causing a departure from the scope of the presentinvention.

The hardware used to implement the various illustrative logics, logicalblocks, modules, and circuits described in connection with the aspectsdisclosed herein may be implemented or performed with a general purposeprocessor, a digital signal processor (DSP), an application specificintegrated circuit (ASIC), a field programmable gate array (FPGA) orother programmable logic device, discrete gate or transistor logic,discrete hardware components, or any combination thereof designed toperform the functions described herein. A general-purpose processor maybe a microprocessor, but, in the alternative, the processor may be anyconventional processor, controller, microcontroller, or state machine. Aprocessor may also be implemented as a combination of computing devices,e.g., a combination of a DSP and a microprocessor, a plurality ofmicroprocessors, one or more microprocessors in conjunction with a DSPcore, or any other such configuration. Alternatively, some steps ormethods may be performed by circuitry that is specific to a givenfunction.

In one or more exemplary aspects, the functions described may beimplemented in hardware, software, firmware, or any combination thereof.If implemented in software, the functions may be stored on as one ormore instructions or code on a non-transitory computer-readable medium.The steps of a method or algorithm disclosed herein may be embodied in aprocessor-executable software module executed which may reside on anon-transitory computer-readable medium. Non-transitorycomputer-readable media includes computer storage media that facilitatestransfer of a computer program from one place to another. A storagemedia may be any available media that may be accessed by a computer. Byway of example, and not limitation, such non-transitorycomputer-readable storage media may comprise RAM, ROM, EEPROM, CD-ROM orother optical disk storage, magnetic disk storage or other magneticstorage devices, or any other medium that may be used to carry or storedesired program code in the form of instructions or data structures andthat may be accessed by a computer. Disk and disc, as used herein,includes compact disc (CD), laser disc, optical disc, digital versatiledisc (DVD), floppy disk, and blu-ray disc where disks usually reproducedata magnetically, while discs reproduce data optically with lasers.Combinations of the above should also be included within the scope ofnon-transitory computer-readable storage media. Additionally, theoperations of a method or algorithm may reside as one or any combinationor set of codes and/or instructions on a machine readable medium and/orcomputer-readable medium, which may be incorporated into a computerprogram product.

The preceding description of the disclosed aspects is provided to enableany person skilled in the art to make or use the present invention.Various modifications to these aspects will be readily apparent to thoseskilled in the art, and the generic principles defined herein may beapplied to other aspects without departing from the scope of theinvention. Thus, the present invention is not intended to be limited tothe aspects shown herein but is to be accorded the widest scopeconsistent with the principles and novel features disclosed herein.

What is claimed is:
 1. A multi-axis imaging system, comprising: animaging gantry having a rotor that supports one or more imagingcomponents for rotation about an imaging axis extending through a boreof the imaging gantry; a support column that supports the imaging gantryon one side of the imaging gantry in a cantilevered manner; a base thatsupports the imaging gantry and the support column; a support stageincluding a top surface and a cavity defined in the top surface forhousing the imaging gantry with the rotor arranged vertically betweenthe base and the top surface of the support stage; and a plurality ofdrive mechanisms for moving the imaging gantry in at least three degreesof freedom, the plurality of drive mechanisms including a first drivemechanism that translates the imaging gantry vertically out of thecavity to image a patient standing on the top surface of the supportstage within the bore of the imaging gantry.
 2. The multi-axis imagingsystem of claim 1, wherein the support stage further includes one ormore ramp portions extending towards the top surface for facilitatingpatient movement up to and down from the top surface.
 3. The multi-axisimaging system of claim 1, wherein the imaging gantry defines a firstshape, and the cavity defines a second shape corresponding to the firstshape to house the imaging gantry in the cavity.
 4. The multi-axisimaging system of claim 3, wherein the first shape and the second shapeare each generally annular.
 5. The multi-axis imaging system of claim 1,wherein the imaging gantry includes an outer shell having a side wall;and wherein the top surface of the support stage is arrangedsubstantially flush with the side wall of the outer shell of the imaginggantry housed in the cavity.
 6. The multi-axis imaging system of claim1, wherein the first drive mechanism is a non-backdrivable drivemechanism including a motor geared into a lead screw that extends alonga length of the support column, an a carriage connected with the imaginggantry has a nut fixed thereto that engages with the lead screw suchthat a rotation of the lead screw drives a translation of the carriageand the imaging gantry vertically relative to the support column, thelead screw and the nut are free from backdriving under load.
 7. Themulti-axis imaging system of claim 6, wherein the support columncomprises a plurality of rails extending parallel to one another over asurface of the support column and the imaging gantry is mounted to acarriage having bearing elements that engage with the plurality of railsto displace the imaging gantry vertically relative to the supportcolumn.
 8. The multi-axis imaging system of claim 6, wherein the firstdrive mechanism comprises a motor geared into a threaded shaft thatextends along the length of the support column, and the carriage has anut fixed thereto that engages with the threaded shaft such that arotation of the threaded shaft drives a translation of the carriage andthe imaging gantry vertically relative to the support column.
 9. Themulti-axis imaging system of claim 8, wherein the plurality of drivemechanisms further includes a second drive mechanism that rotates theimaging gantry with respect to the support column between a firstorientation where the imaging axis of the imaging gantry extends in avertical direction parallel to the support column and a secondorientation where the imaging axis of the imaging gantry extends in ahorizontal direction parallel with the base.
 10. The multi-axis imagingsystem of claim 9, wherein the second drive mechanism is mounted to thecarriage.
 11. The multi-axis imaging system of claim 10, wherein thesecond drive mechanism comprises a motor mechanically coupled to a firstrace of a rotary bearing such that the motor drives the rotation of thefirst race relative to a second race of the rotary bearing, and thefirst race is attached to the imaging gantry and the second race isattached to the carriage.
 12. The multi-axis imaging system of claim 11,wherein the motor drives a drive wheel that engages with a drive beltthat extends over a surface of the first race and drives the rotation ofthe first race relative to the second race.
 13. The multi-axis imagingsystem of claim 12, wherein opposing ends of the drive belt are attachedto the first race.
 14. The multi-axis imaging system of claim 9, whereinthe base comprises at least one rail extending along a length of thebase, and the support column is mounted to a platform having at leastone bearing element that engages with the at least one rail to displacethe support column and the imaging gantry in a horizontal direction withrespect to the base.
 15. The multi-axis imaging system of claim 14,wherein the plurality of drive mechanisms further includes a third drivemechanism that translates the support column and the imaging gantry in ahorizontal direction along the base.
 16. The multi-axis imaging systemof claim 15, wherein the third drive mechanism comprises a drive beltextending along the length of the base parallel to the at least one railand a motor mounted to the platform that drives a drive wheel thatengages with the drive belt to drive displacement of the support columnand the imaging gantry.
 17. The multi-axis imaging system of claim 16,wherein the base comprises at least one cover attached to the platformand/or the support column that extends from and retracts into a housingbased on the translation of the support column relative to the base. 18.The multi-axis imaging system of claim 1, wherein the imaging gantryincludes: an outer shell forming a circumferential wall and at least oneside wall, wherein the rotor rotates within the outer shell; and abearing assembly including a first race attached to the outer shell, asecond race attached to the rotor, and a bearing element between thefirst race and the second race that enables the first race and thesecond race to rotate concentrically relative to one another.
 19. Themulti-axis imaging system of claim 18, wherein the bearing assembly isattached to outer shell of the imaging gantry to accommodate a limitedamount of bending or deflection of the outer shell between a first endof the imaging gantry that is attached to the support column and asecond end of the imaging gantry opposite the first end whilemaintaining the relative rotation of the first and second races of thebearing assembly within a plane.
 20. The multi-axis imaging system ofclaim 18, wherein the plurality of drive mechanisms further includes asecond drive mechanism that rotates the imaging gantry with respect tothe support column between a first orientation where the imaging axis ofthe imaging gantry extends in a vertical direction parallel to thesupport column and a second orientation where the imaging axis of theimaging gantry extends in a horizontal direction parallel with the base;and wherein the first race is attached to the outer shell in a pluralityof attachment locations to suspend the bearing assembly from the outershell when the imaging gantry is rotated to the first orientation.